Program which allows users to plot goals on a map and save the goals to a json file.

• Install xterm:

  sudo apt install xterm
  

• git clone the goal_plotter_messages package into your ros directory
  

  git clone https://github.com/SynapseProgramming/goal_plotter_messages.git
  

• git clone this package into your ros directory
  

  git clone https://github.com/SynapseProgramming/goal_plotter.git
  

• run colcon build

• In goal_plotter.launch.py please change map_name to the name of your map.
  
• Next, change file path of map_yaml_file if needed.
  
• Next, enter a unique name for save_goal_file and load_goal_file. save_goal_file will be generated in <your_workspace>/install/goal_plotter/share/goal_plotter/goal_json
  
• Next, in goal_gui.launch.py Please change load_goal_file if needed.
  
• Run colcon build and run ros2 launch goal_plotter goal_plotter.launch.py to launch the plotter program.
  
• Run ros2 launch goal_plotter goal_gui.launch to open a GUI interface to send goals to the navigation stack.